Qualitative Kinematics in Mechanisms

This paper investigates the problem of reasoning about the kinematic interactions between parts of a mechanism We introduce the concept of Place Vocabularies as a useful symbolic description of the possible interactions We examine the requirements for the representation and introduce a definition of place vocabularies that satisfies them. We show how this representation can be computed from metric data and used as a basis for qualitative envisionments of mechanism behavior, and describe implemented algorithms to solve this problem.

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